mola_sm_loop_closure repository

mola_sm_loop_closure

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_sm_loop_closure.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_sm_loop_closure	0.1.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_sm_loop_closure

Offline tool for loop-closure on simple-maps

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

Loop closure detection

Example usage:

mola-sm-lc-cli \
 --pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
 -i map_KAIST01_gps.simplemap \
 -o map_KAIST01_corrected.simplemap

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CONTRIBUTING

No version for distro jazzy showing humble. Known supported distros are highlighted in the buttons above.

mola_sm_loop_closure repository

mola_sm_loop_closure

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_sm_loop_closure.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_sm_loop_closure	0.1.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_sm_loop_closure

Offline tool for loop-closure on simple-maps

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

Loop closure detection

Example usage:

mola-sm-lc-cli \
 --pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
 -i map_KAIST01_gps.simplemap \
 -o map_KAIST01_corrected.simplemap

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CONTRIBUTING

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.

mola_sm_loop_closure repository

mola_sm_loop_closure

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_sm_loop_closure.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_sm_loop_closure	0.1.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_sm_loop_closure

Offline tool for loop-closure on simple-maps

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

Loop closure detection

Example usage:

mola-sm-lc-cli \
 --pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
 -i map_KAIST01_gps.simplemap \
 -o map_KAIST01_corrected.simplemap

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CONTRIBUTING

mola_sm_loop_closure repository

mola_sm_loop_closure

ROS Distro
rolling

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_sm_loop_closure.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_sm_loop_closure	0.1.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_sm_loop_closure

Offline tool for loop-closure on simple-maps

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

Loop closure detection

Example usage:

mola-sm-lc-cli \
 --pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
 -i map_KAIST01_gps.simplemap \
 -o map_KAIST01_corrected.simplemap

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CONTRIBUTING

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

mola_sm_loop_closure repository

mola_sm_loop_closure

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_sm_loop_closure.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_sm_loop_closure	0.1.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_sm_loop_closure

Offline tool for loop-closure on simple-maps

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

Loop closure detection

Example usage:

mola-sm-lc-cli \
 --pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
 -i map_KAIST01_gps.simplemap \
 -o map_KAIST01_corrected.simplemap

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CONTRIBUTING

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

mola_sm_loop_closure repository

mola_sm_loop_closure

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_sm_loop_closure.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_sm_loop_closure	0.1.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_sm_loop_closure

Offline tool for loop-closure on simple-maps

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

Loop closure detection

Example usage:

mola-sm-lc-cli \
 --pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
 -i map_KAIST01_gps.simplemap \
 -o map_KAIST01_corrected.simplemap

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CONTRIBUTING

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

mola_sm_loop_closure repository

mola_sm_loop_closure

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_sm_loop_closure.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_sm_loop_closure	0.1.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_sm_loop_closure

Offline tool for loop-closure on simple-maps

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

Loop closure detection

Example usage:

mola-sm-lc-cli \
 --pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
 -i map_KAIST01_gps.simplemap \
 -o map_KAIST01_corrected.simplemap

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CONTRIBUTING

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

mola_sm_loop_closure repository

mola_sm_loop_closure

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_sm_loop_closure.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_sm_loop_closure	0.1.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_sm_loop_closure

Offline tool for loop-closure on simple-maps

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

Loop closure detection

Example usage:

mola-sm-lc-cli \
 --pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
 -i map_KAIST01_gps.simplemap \
 -o map_KAIST01_corrected.simplemap

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CONTRIBUTING

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

mola_sm_loop_closure repository

mola_sm_loop_closure

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_sm_loop_closure.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_sm_loop_closure	0.1.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_sm_loop_closure

Offline tool for loop-closure on simple-maps

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

Loop closure detection

Example usage:

mola-sm-lc-cli \
 --pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
 -i map_KAIST01_gps.simplemap \
 -o map_KAIST01_corrected.simplemap

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CONTRIBUTING

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

mola_sm_loop_closure repository

mola_sm_loop_closure

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_sm_loop_closure.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_sm_loop_closure	0.1.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_sm_loop_closure

Offline tool for loop-closure on simple-maps

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

Loop closure detection

Example usage:

mola-sm-lc-cli \
 --pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
 -i map_KAIST01_gps.simplemap \
 -o map_KAIST01_corrected.simplemap

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CONTRIBUTING

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

mola_sm_loop_closure repository

mola_sm_loop_closure

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_sm_loop_closure.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_sm_loop_closure	0.1.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_sm_loop_closure

Offline tool for loop-closure on simple-maps

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

Loop closure detection

Example usage:

mola-sm-lc-cli \
 --pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
 -i map_KAIST01_gps.simplemap \
 -o map_KAIST01_corrected.simplemap

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CONTRIBUTING

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

mola_sm_loop_closure repository

mola_sm_loop_closure

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_sm_loop_closure.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_sm_loop_closure	0.1.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_sm_loop_closure

Offline tool for loop-closure on simple-maps

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

Loop closure detection

Example usage:

mola-sm-lc-cli \
 --pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
 -i map_KAIST01_gps.simplemap \
 -o map_KAIST01_corrected.simplemap

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CONTRIBUTING

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

mola_sm_loop_closure repository

mola_sm_loop_closure

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_sm_loop_closure.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_sm_loop_closure	0.1.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_sm_loop_closure

Offline tool for loop-closure on simple-maps

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

Loop closure detection

Example usage:

mola-sm-lc-cli \
 --pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
 -i map_KAIST01_gps.simplemap \
 -o map_KAIST01_corrected.simplemap

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CONTRIBUTING

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

mola_sm_loop_closure repository

mola_sm_loop_closure

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_sm_loop_closure.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_sm_loop_closure	0.1.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_sm_loop_closure

Offline tool for loop-closure on simple-maps

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

Loop closure detection

Example usage:

mola-sm-lc-cli \
 --pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
 -i map_KAIST01_gps.simplemap \
 -o map_KAIST01_corrected.simplemap

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CONTRIBUTING

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

mola_sm_loop_closure repository

mola_sm_loop_closure

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_sm_loop_closure.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_sm_loop_closure	0.1.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_sm_loop_closure

Offline tool for loop-closure on simple-maps

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

Loop closure detection

Example usage:

mola-sm-lc-cli \
 --pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
 -i map_KAIST01_gps.simplemap \
 -o map_KAIST01_corrected.simplemap

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CONTRIBUTING

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

mola_sm_loop_closure repository

mola_sm_loop_closure

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_sm_loop_closure.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_sm_loop_closure	0.1.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_sm_loop_closure

Offline tool for loop-closure on simple-maps

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

Loop closure detection

Example usage:

mola-sm-lc-cli \
 --pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
 -i map_KAIST01_gps.simplemap \
 -o map_KAIST01_corrected.simplemap

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CONTRIBUTING

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

mola_sm_loop_closure repository

mola_sm_loop_closure

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_sm_loop_closure.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_sm_loop_closure	0.1.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_sm_loop_closure

Offline tool for loop-closure on simple-maps

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

Loop closure detection

Example usage:

mola-sm-lc-cli \
 --pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
 -i map_KAIST01_gps.simplemap \
 -o map_KAIST01_corrected.simplemap

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CONTRIBUTING

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

mola_sm_loop_closure repository

mola_sm_loop_closure

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_sm_loop_closure.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_sm_loop_closure	0.1.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_sm_loop_closure

Offline tool for loop-closure on simple-maps

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

Loop closure detection

Example usage:

mola-sm-lc-cli \
 --pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
 -i map_KAIST01_gps.simplemap \
 -o map_KAIST01_corrected.simplemap

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CONTRIBUTING

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.

mola_sm_loop_closure repository

mola_sm_loop_closure

ROS Distro
humble

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_sm_loop_closure.git
VCS Type	git
VCS Version	develop
Last Updated	2026-01-15
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
mola_sm_loop_closure	0.1.0

README

Distro	Build dev	Build releases	Stable version
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Kilted @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

mola_sm_loop_closure

Offline tool for loop-closure on simple-maps

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

Loop closure detection

Example usage:

mola-sm-lc-cli \
 --pipeline src/mola_sm_loop_closure/pipelines/loop-closure-lidar3d.yaml \
 -i map_KAIST01_gps.simplemap \
 -o map_KAIST01_corrected.simplemap

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

mola_sm_loop_closure repository

ROS Distrohumble

Repository Summary

Packages

README

mola_sm_loop_closure

Georeferencing a map

Loop closure detection

License

CONTRIBUTING

mola_sm_loop_closure repository

ROS Distrohumble

Repository Summary

Packages

README

mola_sm_loop_closure

Georeferencing a map

Loop closure detection

License

CONTRIBUTING

mola_sm_loop_closure repository

ROS Distrohumble

Repository Summary

Packages

README

mola_sm_loop_closure

Georeferencing a map

Loop closure detection

License

CONTRIBUTING

mola_sm_loop_closure repository

ROS Distrorolling

Repository Summary

Packages

README

mola_sm_loop_closure

Georeferencing a map

Loop closure detection

License

CONTRIBUTING

mola_sm_loop_closure repository

ROS Distrohumble

Repository Summary

Packages

README

mola_sm_loop_closure

Georeferencing a map

Loop closure detection

License

CONTRIBUTING

mola_sm_loop_closure repository

ROS Distrohumble

Repository Summary

Packages

README

mola_sm_loop_closure

Georeferencing a map

Loop closure detection

License

CONTRIBUTING

mola_sm_loop_closure repository

ROS Distrohumble

Repository Summary

Packages

README

mola_sm_loop_closure

Georeferencing a map

Loop closure detection

License

CONTRIBUTING

mola_sm_loop_closure repository

ROS Distrohumble

Repository Summary

Packages

README

mola_sm_loop_closure

Georeferencing a map

Loop closure detection

License

CONTRIBUTING

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
rolling

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble

ROS Distro
humble